From a6eed37d26ba0ca617e8e1f3b3eca31449a26fdb Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Fri, 26 Feb 2016 10:28:00 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8950
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/common/abstractions/nasa_osal/src/osapi.c | 22 +++++++++++++---------
 os/rt/src/chthreads.c                        | 21 ++++++++++++++++++---
 2 files changed, 31 insertions(+), 12 deletions(-)

(limited to 'os')

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index a367c339b..0a805a99a 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -1311,7 +1311,8 @@ int32 OS_TaskCreate(uint32 *task_id,
   /* Checking if this working area is already in use by some thread, the
      error code is not very appropriate but this case seems to not be
      coveded by the specification.*/
-  if ((tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer)) != NULL) {
+  tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer);
+  if (tp != NULL) {
     /* Releasing the thread reference.*/
     chThdRelease(tp);
     return OS_ERR_NO_FREE_IDS;
@@ -1339,8 +1340,10 @@ int32 OS_TaskCreate(uint32 *task_id,
     NULL
   };
 
-  /* Creating the task.*/
+  /* Creating the task and detaching it, other APIs will have to gain a
+     reference using the registry API.*/
   tp = chThdCreate(&td);
+  chThdRelease(tp);
 
   /* Storing the task id.*/
   *task_id = (uint32)tp;
@@ -1377,8 +1380,9 @@ int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
  */
 int32 OS_TaskDelete(uint32 task_id) {
   thread_t *tp = (thread_t *)task_id;
+  funcptr_t fp;
 
-  /* Check for thread validity.*/
+  /* Check for thread validity, getting a reference.*/
   if (chRegFindThreadByPointer(tp) == NULL) {
     return OS_ERR_INVALID_ID;
   }
@@ -1386,17 +1390,17 @@ int32 OS_TaskDelete(uint32 task_id) {
   /* Asking for thread termination.*/
   chThdTerminate(tp);
 
-  /* Waiting for termination.*/
+  /* Getting the delete handler while the thread is still referenced.*/
+  fp = (funcptr_t)tp->osal_delete_handler;
+
+  /* Waiting for termination, releasing the reference.*/
   chThdWait(tp);
 
   /* Calling the delete handler, if defined.*/
-  if (tp->osal_delete_handler != NULL) {
-    ((funcptr_t)(tp->osal_delete_handler))();
+  if (fp != NULL) {
+    fp();
   }
 
-  /* Releasing the thread reference.*/
-  chThdRelease(tp);
-
   return OS_SUCCESS;
 }
 
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index e809fbb13..943ca7d7c 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -462,9 +462,9 @@ void chThdExit(msg_t msg) {
  * @details The thread goes in the @p CH_STATE_FINAL state holding the
  *          specified exit status code, other threads can retrieve the
  *          exit status code by invoking the function @p chThdWait().
- * @post    Exiting a thread that does not have references (detached)
- *          causes the thread to remain in the registry. It can only
- *          be removed by performing a registry scan operation.
+ * @post    Exiting a non-static thread that does not have references
+ *          (detached) causes the thread to remain in the registry.
+ *          It can only be removed by performing a registry scan operation.
  * @post    Eventual code after this function will never be executed,
  *          this function never returns. The compiler has no way to
  *          know this so do not assume that the compiler would remove
@@ -490,6 +490,21 @@ void chThdExitS(msg_t msg) {
   }
 #endif
 
+#if CH_CFG_USE_REGISTRY == TRUE
+  /* Static threads with no references are immediately removed from the
+     registry because there is no memory to recover.*/
+#if CH_CFG_USE_DYNAMIC == TRUE
+  if ((tp->refs == (trefs_t)0) &&
+      (tp->flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC) {
+    REG_REMOVE(tp);
+  }
+#else
+  if (tp->refs == (trefs_t)0) {
+    REG_REMOVE(tp);
+  }
+#endif
+#endif
+
   /* Going into final state.*/
   chSchGoSleepS(CH_STATE_FINAL);
 
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